Motorcontroller with arduino:
https://pypilot.org/wiki/doku.php?id=motor_controller
(or something similar)
Connecting the mpu925x to the pi check the pi header and connect SCL / SCA / GND and depending on the MPU925x solution either 3.3V or 5V.
https://www.raspberrypi.org/documentation/usage/gpio/
Use the OpenPlotter PyPilot and I2C plugins to configure the MPU (first the pypilot, second the i2c to connect the mpu to signalk).
I think you will find more infromation on the OpenPlotter part of the forum for the MPU925x connection.
https://pypilot.org/wiki/doku.php?id=motor_controller
(or something similar)
Connecting the mpu925x to the pi check the pi header and connect SCL / SCA / GND and depending on the MPU925x solution either 3.3V or 5V.
https://www.raspberrypi.org/documentation/usage/gpio/
Use the OpenPlotter PyPilot and I2C plugins to configure the MPU (first the pypilot, second the i2c to connect the mpu to signalk).
I think you will find more infromation on the OpenPlotter part of the forum for the MPU925x connection.